EP2851164B1 - Schweissroboter mit einer auf dem Unterarm angeordneten Schweissdrahtfördereinrichtung - Google Patents

Schweissroboter mit einer auf dem Unterarm angeordneten Schweissdrahtfördereinrichtung Download PDF

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Publication number
EP2851164B1
EP2851164B1 EP14185573.4A EP14185573A EP2851164B1 EP 2851164 B1 EP2851164 B1 EP 2851164B1 EP 14185573 A EP14185573 A EP 14185573A EP 2851164 B1 EP2851164 B1 EP 2851164B1
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EP
European Patent Office
Prior art keywords
axis
robot
forearm
welding
wire
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14185573.4A
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English (en)
French (fr)
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EP2851164A1 (de
Inventor
Atsuhi Terada
Kazuhiro Yasutomi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Yaskawa Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2013194668A external-priority patent/JP5895914B2/ja
Priority claimed from JP2013228586A external-priority patent/JP5920314B2/ja
Application filed by Yaskawa Electric Corp, Yaskawa Electric Manufacturing Co Ltd filed Critical Yaskawa Electric Corp
Publication of EP2851164A1 publication Critical patent/EP2851164A1/de
Application granted granted Critical
Publication of EP2851164B1 publication Critical patent/EP2851164B1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/29—Supporting devices adapted for making use of shielding means
    • B23K9/291—Supporting devices adapted for making use of shielding means the shielding means being a gas
    • B23K9/295—Supporting devices adapted for making use of shielding means the shielding means being a gas using consumable electrode-wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/39—Jaw structure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/41—Tool
    • Y10S901/42—Welding

Claims (10)

  1. Roboter (10), umfassend:
    einen Flansch (15a), der dazu in der Lage ist, ein Schweißbrenner zu fixieren und dazu konfiguriert ist, sich um eine erste Achse (T) zu drehen;
    einen Gelenkarm (15), der dazu konfiguriert ist, sich um eine zweite Achse (B) lotrecht zu der ersten Achse (T) zu drehen und dazu konfiguriert ist, den Flansch (15a) zu tragen;
    einen Unterarm (14b), der dazu konfiguriert ist, sich um eine dritte Achse (R) lotrecht zu der zweiten Achse (B) zu drehen und den Gelenkarm (15) zu tragen;
    ein Vorschubgerät (30), das an einer Position zwischen einem Basisende und einem Spitzenende des Unterarms (14b) befestigt und dazu konfiguriert ist, einen Schweißdraht (W) zuzuführen; und
    ein Stromkabel (43), das eine Stromzuführungsroute für den Schweißbrenner (20) ist und separat von einer Zuführungsroute für den Schweißdraht (W) angeordnet ist, dadurch gekennzeichnet, dass der Unterarm (14b) in der Draufsicht eine Form mit gabelförmigen Abschnitten aufweist, und dadurch, dass
    das Vorschubgerät (30) in einem Bereich zwischen den gabelförmigen Abschnitten und näher an einer Basis der gabelförmigen Abschnitte angeordnet ist.
  2. Roboter (10) nach Anspruch 1, wobei das Stromkabel (43) in eine Vielzahl von Kabeln auseinanderläuft.
  3. Roboter (10) nach Anspruch 2, des Weiteren umfassend:
    eine Brennerklemme (21), von der ein Abschnitt an dem Gelenkarm (15) befestigt ist und sich eine Stützsäule (21a) säulenförmig von dem Abschnitt zu dem Schweißbrenner (20) erstreckt und den Gelenkarm (15) und den Schweißbrenner (20) über die Stützsäule (21a) verbindet, wobei
    mindestens ein Paar von Stromkabeln aus den Stromkabeln (43) über Kreuz an der Stützsäulen (21 a) aufgehängt ist.
  4. Roboter (10) nach einem der Ansprüche 1 bis 3, des Weiteren umfassend:
    ein Drahtkabel (41), bei dem es sich um eine Zuführungsroute für den Schweißdraht (W) handelt und das entlang einer dritten Achse (R) zwischen den gabelförmigen Abschnitten verlegt ist.
  5. Roboter (10) nach Anspruch 4, wobei
    der Gelenkarm (15) die Brennerklemme (21) drehbar um die erste Achse (T) lotrecht zu der zweiten Achse (B) lagert,
    wobei die Brennerklemme (21) des Weiteren einen Zusammenführungsabschnitt (21c) aufweist, welcher das Stromkabel (43) und das Drahtkabel (41) zusammenführt; und
    wobei das Stromkabel (43) durch den Gelenkarm (15) entlang der ersten Achse (T) von der Unterarmseite (14b) geleitet wird und aus einer Richtung im Wesentlichen lotrecht zu der ersten Achse (T) mit dem Zusammenführungsabschnitt (21c) verbunden ist.
  6. Roboter (10) nach einem der Ansprüche 1 bis 5, des Weiteren umfassend:
    einen ersten Rahmen (31 a) mit einer Aufhängung (31 aa), die über den gabelförmigen Abschnitten des Unterarms (14b) angeordnet ist und eine Säule (31 ab), die sich im Wesentlichen lotrecht von der Aufhängung (31 aa) erstreckt; und
    einen zweiten Rahmen (31 b) mit einem Hakenabschnitt (31 bb), der eine Hakenform aufweist und mit der Säule (31 ab) verbunden ist und einen Endabschnitt (31 bc), der mit der Basis der gabelförmigen Abschnitte verbunden ist, wobei
    das Vorschubgerät (30) die dritte Achse (R) zwischen dem Basisendabschnitt und
    dem Spitzenendabschnitt des Unterarms (14b) kreuzt, indem es einem zweiten Rahmen (31 b) befestigt ist.
  7. Roboter (10) nach Anspruch 6, des Weiteren umfassend:
    einen Einschubpfad (31 ac), der dadurch gebildet wird, dass die Säule (31 ab) und der Hakenabschnitt (31 bb) miteinander verbunden werden, wobei
    das Stromkabel (31) durch eine Innenseite des Hakenabschnitts (31 bb) in Richtung des Einschubpfades (31 ac) geleitet wird, zusammen mit dem Drahtkabel (41) in den Einschubpfad (31 ac) eingeschoben wird und in Richtung des Gelenkarms (15) geleitet wird.
  8. Roboter (10) nach Anspruch 4 oder 5, des Weiteren umfassend:
    einen Gasschlauch (42) als Zuführungsroute für Gas zu dem Schweißbrenner (20), wobei
    das Stromkabel (43), das Drahtkabel (41) und der Gasschlauch (42) separat voneinander angeordnet sind.
  9. Roboter (10) nach einem der Ansprüche 1 bis 8, des Weiteren umfassend den Schweißbrenner (20).
  10. Roboter (10) nach einem der Ansprüche 1 bis 9, des Weiteren umfassend:
    eine Basis (11), die an einem Installationsobjekt befestigt ist;
    eine Schwenkbasis (12), die dazu konfiguriert ist, an die Basis (11) drehbar um eine Achse (S) lotrecht zu einer Installationsfläche des Installationsobjekts anzuschließen;
    einen Unterarm (13), der dazu konfiguriert ist, an die Schwenkbasis (12) drehbar um eine Achse (L) lotrecht zu der Achse (S) anzuschließen, und
    einen Oberarm (14), der dazu konfiguriert ist, an dem Unterarm (13) drehbar um eine Achse (U) parallel zu der Achse (L) gelagert zu werden.
EP14185573.4A 2013-09-19 2014-09-19 Schweissroboter mit einer auf dem Unterarm angeordneten Schweissdrahtfördereinrichtung Active EP2851164B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013194668A JP5895914B2 (ja) 2013-09-19 2013-09-19 ロボット
JP2013228586A JP5920314B2 (ja) 2013-11-01 2013-11-01 ロボット

Publications (2)

Publication Number Publication Date
EP2851164A1 EP2851164A1 (de) 2015-03-25
EP2851164B1 true EP2851164B1 (de) 2016-03-09

Family

ID=51627957

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14185573.4A Active EP2851164B1 (de) 2013-09-19 2014-09-19 Schweissroboter mit einer auf dem Unterarm angeordneten Schweissdrahtfördereinrichtung

Country Status (3)

Country Link
US (1) US9643277B2 (de)
EP (1) EP2851164B1 (de)
CN (1) CN104439627B (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5895914B2 (ja) * 2013-09-19 2016-03-30 株式会社安川電機 ロボット
EP3140070B1 (de) * 2014-05-09 2018-08-22 Esab AB Ergonomischer schweissarm mit mehreren armverbindungen und gelenken
JP2016068199A (ja) * 2014-09-30 2016-05-09 セイコーエプソン株式会社 ロボット
JP5975129B1 (ja) * 2015-03-02 2016-08-23 株式会社安川電機 ロボット
JP6441255B2 (ja) 2016-04-07 2018-12-19 ファナック株式会社 ロボットの線条体処理構造
CN106181040B (zh) * 2016-08-24 2018-02-23 浙江朗德电子科技有限公司 一种使用圆周面自动焊接装置的焊接方法
CN106514078A (zh) * 2016-12-02 2017-03-22 芜湖市元山机械制造有限公司 一种汽车弹簧盘分总成圆弧轨迹焊接机器人
CN107084835B (zh) * 2017-05-04 2023-10-17 中铁十二局集团有限公司 一种腕臂预配数据检测装置及其检测方法
JP2019048360A (ja) * 2017-09-12 2019-03-28 セイコーエプソン株式会社 ロボット、及びロボットシステム
CN108000020A (zh) * 2017-12-08 2018-05-08 广西瑞克工业机器人有限公司 一种工业焊接机器人用便于安装的焊接头
JP6730362B2 (ja) * 2018-04-11 2020-07-29 ファナック株式会社 ロボットの手首構造

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DE3542314A1 (de) 1985-11-29 1987-06-04 Kuka Schweissanlagen & Roboter Transportvorrichtung fuer den schweissdrahtvorschub an schweisseinrichtungen
JP2564388B2 (ja) * 1989-01-30 1996-12-18 ファナック株式会社 垂直多関節腕型産業用ロボットのオフセットアーム構造
SE514034C2 (sv) * 1994-01-26 2000-12-11 Abb Ab Kabeldragning mellan kopplingslådor inuti en robot för elöverföring till motorer och reglersystem
DE29720048U1 (de) 1997-11-12 1999-03-18 Dinse Gmbh Vorrichtung zum Lichtbogenschweißen
SE516877C2 (sv) * 1999-12-01 2002-03-19 Abb Ab Ett förfarande och ett vridorgan för dragning av ett kablage för en industrirobot
AT411232B (de) * 2001-04-24 2003-11-25 Fronius Schweissmasch Prod Zentralanschluss bzw. zentrales führungsgehäuse für ein schlauchpaket
JP2007326151A (ja) * 2001-10-22 2007-12-20 Yaskawa Electric Corp 産業用ロボット
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JP2005066610A (ja) 2003-08-20 2005-03-17 Yaskawa Electric Corp ワイヤ送給装置
JP3987845B2 (ja) * 2004-08-13 2007-10-10 ファナック株式会社 産業用ロボットの線条体処理構造
JP2005297069A (ja) * 2005-05-30 2005-10-27 Daihen Corp アーク溶接ロボットにおける溶接ワイヤの供給機構
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Also Published As

Publication number Publication date
US20150076131A1 (en) 2015-03-19
US9643277B2 (en) 2017-05-09
CN104439627B (zh) 2017-08-25
EP2851164A1 (de) 2015-03-25
CN104439627A (zh) 2015-03-25

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